I think the power transistors you are using are high voltage, low gain types. So they need a lot of base current to get fair saturation. If you replace them with a low resistance N-channel mosfet, that should run much cooler. They are also much simpler to connect to the 555. The gate can be connected directly to the 555 output.
Go to Digikey and find the data sheets for IRFZ44V, IRF540, IRF3704 for examples that should work. One of these can handle your load with no heat sink.